EP1128931B1

EP1128931B1 - New method of error compensation for angular errors in machining (droop compensation)

Info

Publication number: EP1128931B1
Application number: EP99939745A
Authority: EP
Inventors: Philip S. Szuba; Zbigniew Jan Pasek
Original assignee: Unova IP Corp; Unova Industrial Automation Systems Inc
Current assignee: Unova IP Corp; Unova Industrial Automation Systems Inc
Priority date: 1998-08-18
Filing date: 1999-08-17
Publication date: 2003-10-29
Anticipated expiration: 2019-08-17
Also published as: WO2000010768A1; JP2002523248A; EP1128931A1; EP1128931A4; DE69912469D1; DE69912469T2; US6325578B1; CA2337939A1; BR9915107A; ES2211141T3; AU5398299A

Description

Be it known that we, Philip S. Szuba, a citizen of the United States of America, residing at 17153 17 Mile Rd., Clinton Township, Michigan 48038, and Zbigniew Jan Pasek, a citizen of Poland, residing at 2105 Needham Rd., Ann Arbor, Michigan 48104, have invented a new and useful New Method of Error Compensation For Angular Errors in Machining (Droop Compensation), the following of which is full and complete description thereof.
The invention relates to the use of plural actuators to position a machine tool along a single axis whereby the machine tool may be more accurately located at a desired location.

Background of the Invention

During any machining process, relative motion between the cutting tool and part must occur. In the ideal working condition, the machine tool moves to the position commanded by the machine tool controller and the machining operation commences.
The machining operation is associated with several sources of error. First, the platen carrying the cutting tool may not move to the desired position in the direction of motion due to a difference between the actual and commanded position. This difference is called linear displacement error (LDE). Second, the machine surfaces may not be completely flat, resulting in linear error motions in the two lateral directions; such errors are called horizontal and vertical flatness or straightness errors.
US Patent No. 2,901,947 in the name of Waninger et al. shows a machine tool operable to correct such horizontal flatness errors.
In addition, inaccuracies in the manufacture and assembly of the components may cause unintended rotary motions about each machine axis; such rotary motions are called roll, pitch, and yaw.
More often than not, effects of these errors do not completely cancel each other out, and their net effect will generate errors in machined features. If sufficient degrees of freedom are available, all the errors can be minimized or eliminated. However, in most machine tools, the available degrees of freedom are usually limited to three. For example, in a single axis machine tool, there is only one degree of freedom in the feed direction. Therefore, only linear displacement error motions in the direction of feed can be corrected.
Pitch and yaw are the major sources of error at the cutting insert when using long tools. The pitch error can be caused by deformation of the machine structure due to gravity, geometric errors in the components and assembly of the machine tool, and thermally induced strains due to ambient temperature changes. It is not possible to compensate for pitch and yaw errors on traditional three axis machine tools unless additional rotary axes are added to the machine.
Because geometric errors are a function of the mechanical components of the machine tool, they can usually be altered by mechanical intervention. Various techniques exist for reducing the angular errors associated with a machine tool; however, they are time consuming to execute and very laborious. In the case of errors due to gravity, there is no easy method to correct for such errors on three axis machine tools that have only one actuator per axis. Gravity induced errors are predominately in the Y direction, and such "droop" errors have a large effect on the pitch of the Z-axis in the YZ plane.

Summary and Objects of the Invention

Machine tool accuracy can be compromised by errors induced by gravity or by geometric inaccuracies in the structure of the machine tool itself. Compensation for such errors can be generated by using multiple drives to actuate the tool rather than a single drive. Differential control of the multiple drives can be used to introduce an intended variance in tool position, which is opposite to, and therefore cancels out, any gravity, or geometric structure related errors.
It is accordingly an object of the invention to generate more degrees of freedom in a single axis machine tool to compensate for errors by employing multiple linear actuators in place of a single drive.
It is another object of the invention to generate an extra degree of freedom in a single axis machine tool to compensate for errors by employing two ballscrew actuators.
It is another object of the invention to generate an extra degree of rotational motion in order to compensate for errors by creating differential linear motion between two ballscrews on the Y axis of a machine tool.
It is yet another object of the invention to use two actuators on the same axis of a machine tool to generate both linear and rotary motion in order to compensate for positional errors of the tool.

Brief Description of the Drawings

Figure 1 shows a typical machine tool and worktable setup.
Figures 2A-2G show a machine tool coordinate system and the six basic errors which exist for a single axis machine tool.
Figure 3 shows the use of two linear actuators to control the motion of a machine tool platen.
Figure 4 shows a machine tool spindle mounted on a platen actuated by two ballscrews.
Figure 5 shows the angular error which can be created by a mismatch in ballscrew length.
Figure 6 shows a machine tool spindle mounted on a platen in which a linear encoder and an electronic level are used as position feedback devices.
Figure 7 shows a machine tool spindle mounted on a platen in which two linear encoders are used as position feedback devices.

Description of the Preferred Embodiment

Figure 1 shows the typical elements of a machine tool 14 which is set up to perform a boring operation. The machine tool comprises a spindle 15 which supports a cutting tool 16. The spindle 15 is mounted on a column 17 by a vertical slide and the base 18 of the column is mounted for axial movement relative to a support 19. The support 19 is mounted on a lateral slide 21. The machine tool includes a worktable 22 which normally supports a workpiece (not shown). The X-axis 23 defines lateral motion of the cutting tool, the Y-axis 24 defines vertical motion of the cutting tool, and the Z-axis 26 defines axial motion of the cutting tool 16 in the feed direction.
Figure 2A defines the X axis 23, Y axis 24, and Z axis 26 of a typical machine tool where the direction of feed of the spindle 15 and the tool 16 is along the Z axis. Figures 2B-2G show the six error terms for the Z-axis motion of a single axis machine tool. Specifically, Figure 2B shows Linear Displacement Error (LDE) 31 as an error Δ Z along the Z-axis 26. Figure 2C shows Roll as rotational error 32 about the Z-axis 26. Figure 2D shows Pitch 33 as rotational error about the X axis 23. Figure 2E shows Yaw 34 as rotational error about the Y-axis 24. Figure 2F shows Horizontal Straightness error 35 as error motion along the X axis 23. Figure 2G shows Vertical Straightness error 36 as error motion along the Y axis 24.
Error measurement of the complete machine tool is rather complex since for a three axis machine, twenty-one error terms exist. These twenty-one errors are comprised of six error terms for each linear axis as illustrated in Figure 2, plus three error terms relating to the squareness of the three axes with respect to each other (XY), (XZ), and (YZ). As a general manufacturing practice, if the function of the platen is to carry the workpiece, these errors are measured with respect to a nominal cutting tool position. If the function of the platen is to carry the cutting tool, measurements are made with respect to a nominal workpiece position.
Figure 3 shows a platen 40 mounted on a column 41 by two ways 42. A first end 44 of the platen is coupled to a first ballscrew actuator 46 comprising a first baliscrew 47, a first motor 48, and a first encoder 49. The second end 54 of the platen is coupled to a second ballscrew actuator 56 comprising a second ballscrew 57, a second motor 58, and a second encoder 59. The two ballscrews 47 and 57may be driven in unison to provide equal displacement of the first and second ends 44 and 54 of the platen 40, or may be driven differentially to create an angular tilt β in the platen as shown.
Figure 4 shows the platen 40 of Figure 3 with a spindle 60 and a rotary tool 61 having a cutting insert 62 mounted thereon. The spindle 60 is mounted on a pair of ways 63 for motion along the Z axis 26. A ballscrew actuator 64 comprising a motor 66, an encoder 67, and a ballscrew 68 drive the spindle 60 to the desired position along the Z axis 26. The dual ballscrew drives of Figure 3 are represented schematically in Figure 4 by the reference letters B1 and B2, and are separated from one another by the distance S. The variables B1 and B2 represent the ball screw lengths. When B1 is not equal to B2, an angular error, β, is introduced as shown in Figures 3 and 5. This angular error translates to a linear error, ΔY, at the cutting tip.
This dual drive system can be effectively used for correcting error due to pitch, as well as linear errors in the Y direction. The pitch error results in a magnified linear error ΔY in the Y direction at the tool tip 62 due to the amplification through the boring bar length. If an angular pitch error β is present, the platen 40 carrying the tool 61 can be rotated in the opposite direction through this angle by creating a differential motion between the two ballscrews B1 and B2. If a linear error is ΔY is due to an error in vertical straightness, the two ends 44 and 54 of the platen 40 can be displaced equal amounts by the ballscrews 47 and 57 to correct the linear error.
Ballscrews are typically manufactured with a constant pitch p. When installed on the machine tool, each ballscrew is rotated by a servomotor with an attached rotary encoder that has a resolution e. The encoder functions to provide closed loop feedback of position to the servomotor controller in a manner which is well known in the art.
The linear motion d generated by a ballscrew subjected to n turns is equal to: d = np where:
d = the resultant linear motion
n = the number of turns applied to the screw
p = the pitch of the ballscrew.
The degree of resolution which can be obtained depends on the type of encoder which is used on the ballscrew. Commercially available digital encoders have a resolution in excess of one million divisions per revolution, while analog encoders typically have a resolution of 64,000 divisions per revolution. The minimum amount of linear motion d_min (resolution) which can be generated by a servomotor actuated ballscrew is equal to: d min = p e For example, a 20 mm pitch ballscrew with an analog encoder that has 64,000 divisions has a resolution e of 20 mm divided by 64,000 or 0.0003125 mm.
When two ballscrews are used to move a machine tool along a common axis, as in Figures 3-5, incremental differences in ballscrew motion produce an angular motion in the moving platen. For the purposes of the instant invention, it is assumed that all incremental differences in ballscrew length will be small and the resultant angle generated will be very small. In terms of the known geometry of the machine tool, the value of the angular error β is:
The resultant motion ΔY at the tool tip is equal to: ΔY = (B2 - B1)(S + O + L) S
The resolution of a boring machine using dual ballscrews as shown in Figure 4 can be computed as follows. In this example, the distance, S, between the two ballscrews B1 and B2 is 1600.0 mm, the distance 0 between B1 and the end gage line of the spindle 60 is 100.0 mm, and the length L of the boring bar is 1016.0 mm. The ballscrews have a 20 mm pitch and the servomotors have an analog encoder that contains 64,000 divisions. The angular resolution, Δβ, can be found using Equation 5 in which B2-B1 is computed for the least difference in length between B1 and B2 that can be generated by keeping one ballscrew fixed and rotating the other ballscrew 1 increment as measured by the encoder.
With this resolution, the minimum linear error ΔY which can be corrected at the tool tip, can be found using Equation 4: ΔY = 0.0003125mm(1600.0mm + 100.0mm + 1016.0mm) 1600.0mm = 0.00053mm
To increase the precision of error compensation, two different ball screw pitches may be used, and the resolution of pitch compensation may be magnified. For example, the pitch p¹ of one ballscrew may be chosen to be 20 mm, and the pitch p² of the other may be 15 mm. Both ballscrews are coupled to an analog encoder with 64,000 divisions. The difference in ballscrew lengths B2-B1, which can be generated is: d = p1 e - p2 e = 20mm 64,000 - 15 mm 64,000 = 0.000078125mm Using the same machine parameters as in the previous example, the resolution of pitch compensation can be re-computed:
With this increased resolution, the minimum linear error which can be corrected at the tool tip is: ΔY = 0.000078125mm(1600.0mm + 100.0mm + 1016.0mm) 1600.0mm = 0.0001326mm The accuracy of resolution using two linear actuators as described herein is inversely proportional to the difference in the pitches of the ballscrews. Thus, the minimum error which can be corrected at the tool tip using two ballscrew pitches which differ by 25% is one fourth the minimum error which can be corrected using two ballscrews with the same pitch.
This technique could also be used with linear encoders and electronic levels as feedback devices. These feedback devices minimize the difference obtained due to temperature differences in the two ballscrews which would otherwise affect the accuracy of the system.
Figure 6 shows an embodiment of the invention in which an electronic level 70 is mounted on the platen 40, and a linear encoder 71 is mounted on the column 41. A movable sensor 72 on the linear encoder 71 is attached to the platen 40 so that movement of the platen 40 relative to the column 41 produces a signal in the linear encoder 71 which can be coupled by lead 73 to suitable processing equipment (not shown). The signal on lead 73 together with a signal on lead 74 from the electronic level 70 can be processed to develop position and error signals in a manner known in the art for the machine tool as shown in Figures 4 and 5 mounted on the platen.
Figure 7 shows an embodiment of the invention in which two liner encoders 76 are mounted on the column 41. Each linear encoder 76 has a movable sensor 77 which is attached to the platen 40 so that movement of the platen relative to the column 41 produces a signal in the respective encoders 76 which can be coupled by leads 78 to suitable processing equipment (not shown). The signals on the two leads 78 can be processed to develop position and error signals in a manner known in the art for the machine tool as shown in Figures 4 and 5 mounted on the platen.
Having thus described the invention, various alteration and modification will occur to those skilled in the art, which alterations and modifications are intended to be within the scope of the invention as defined by the appended claims.

Claims

An error compensation system for a machine tool including: a platen (40) on which a machine tool (60, 61, 62) is mounted, way means (42) for attaching the platen (40) to a reference surface (41), and drive means (46, 56) for moving the platen (40) relative to the reference surface (41), characterised in processing means which provides that to correct a linear error in the position of a cutting tool tip the drive means (46, 56) moves both ends of the platen (40) an equal amount relative to the reference surface (41) and to correct an angular error in the position of the cutting tool tip the drive means moves both ends of the platen an unequal amount relative to the reference surface (41) to create an angular tilt in the platen (40); and in that the drive means (46, 56) comprises a pair of ball screws (47, 57), wherein one ball screw (47) is connected in proximity to one end (44) of the platen (41) and the other ball screw (57) is connected in proximity to the other end (54) of the platen (41), the ball screws (47, 57) being substantially parallel to the way means (42).
The error compensation system of claim 1 further comprising: each ballscrew (47, 57) having the same pitch.
The error compensation system of claim 1 further comprising: the two ball screws (47, 57) having different pitches.
An error compensation system according to any of claims 1 to 3, wherein the machine tool (60, 61, 62, 64) has a tool oriented on a horizontal axis (26) which compensates for pitch error of the machine tool (60, 61, 62, 64).
An error compensation system according to any of the preceding claims, further comprising: a rotary encoder (49, 59) attached to each ballscrew (47, 57), each rotary encoder (49, 59) having a resolution e, whereby the minimum amount of linear motion d which can be generated by each ballscrew (47, 57) is equal to p/e.
An error compensation system according to any of the preceding claims, further comprising: said machine tool (60, 61, 62, 64) mounted to a platen (40) by a way (63) affixed to the platen (40) and adjustably mounted along a first axis (26) mounted parallel to the way (63); drive means (46, 56) for moving the platen (40) relative to the reference surface (41) along a second axis perpendicular to said first axis (26) wherein the drive means (46, 56) selectively moves both ends (44, 54) of the platen (40) an equal or an unequal amount relative to the reference surface (41); and said ball screws (47, 57) being substantially perpendicular to said first axis (26).
An error compensation system according to any of the preceding claims, further comprising: servo-motors (48, 58) mounted at an end of each ball screw (47, 57) for turning said ballscrew (47, 57) for moving said platen (40) along said way means (42).
An error compensation system according to claim 5 or any claim dependent therefrom, in which the machine tool (60, 61, 62, 64) has an extended tool tip, the error compensation system comprising: each ballscrew (47, 57) having a pitch p, the ballscrews (47, 57) being spaced from one another by a distance S; a distance O + L between the tool tip and the ballscrew (47) which is closest to the tool tip, in which L is the length of the tool (61, 62) and O is the distance between the front of the machine tool (60, 61, 62, 64) and the ballscrew (47) which is closest to the front of the machine tool (60, 61, 62, 64), whereby the least distance the tool tip can be moved as a result of differential actuation of the ballscrews (47, 57) is (p/e) (S+O+L) S
An error compensation system according to any of claims 1 to 7, in which the machine tool (60, 61, 62, 64) has an extended tool tip, the error compensation system comprising: the first ballscrew (47) having a pitch p1 and the second ballscrew (57) having a pitch p2, the ballscrews (47, 57) being spaced from one another by a distance S; a pair of rotary encoders (49, 59) coupled to each ballscrew (47, 57), each encoder (49, 59) having a resolution e, wherein the smallest linear motion which can be generated by the first ballscrew (47) is p1/e and the smallest linear motion which can be generated by the second ballscrew (57) is p2/e; a distance O + L between the tool tip and the ballscrew (47) which is closest to the tool tip, in which L is the length of the tool (61, 62) and O is the distance between the front of the machine tool (60, 61, 62, 64) and the ballscrew (47) which is closest to the front of the machine tool (60, 61, 62, 64), whereby the least distance the tool tip can be moved as result of differential actuation of the ballscrews (47, 57) is (p1e - p2)e (S+O+L) S